firmware/controllers/actuators/idle_thread_io.cpp

Directory:	./
File:	firmware/controllers/actuators/idle_thread_io.cpp
Date:	2025-12-07 23:45:09

	Coverage	Exec	Excl	Total
Lines:	94.6%	35	0	37
Functions:	80.0%	4	0	5
Branches:	-%	0	0	0
Decisions:	-%	0	-	0

  
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      /*
    
       * @file idle_thread_io.cpp
    
       *
    
       *
    
       * enable verbose_idle
    
       * disable verbose_idle
    
       *
    
       * This file is part of rusEfi - see http://rusefi.com
    
       *
    
       * rusEfi is free software; you can redistribute it and/or modify it under the terms of
    
       * the GNU General Public License as published by the Free Software Foundation; either
    
       * version 3 of the License, or (at your option) any later version.
    
       *
    
       * rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
    
       * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    
       * GNU General Public License for more details.
    
       *
    
       * You should have received a copy of the GNU General Public License along with this program.
    
       * If not, see <http://www.gnu.org/licenses/>.
    
       *
    
       * @date Oct 17, 2021
    
       * @author Andrey Belomutskiy, (c) 2012-2020
    
       */
    
      #include "pch.h"
    
      #if ! EFI_UNIT_TEST
    
      #include "dc_motors.h"
    
      #include "idle_hardware.h"
    
      void setManualIdleValvePosition(int positionPercent) {
    
      	if (positionPercent < 1 || positionPercent > 99)
    
      		return;
    
      	efiPrintf("setting idle valve position %d", positionPercent);
    
      	// todo: this is not great that we have to write into configuration here
    
      	setTable(config->cltIdleCorrTable, positionPercent);
    
      }
    
      #endif /* EFI_UNIT_TEST */
    
      #if EFI_PROD_CODE
    
      static void startInputPinIfValid(const char *msg, brain_pin_e pin, pin_input_mode_e mode) {
    
      	efiSetPadMode(msg, pin, getInputMode(mode));
    
      }
    
      #endif // EFI_PROD_CODE
    
      ✗
      percent_t getIdlePosition() {
    
      #if EFI_IDLE_CONTROL
    
      ✗
      	return engine->module<IdleController>().unmock().currentIdlePosition;
    
      #else
    
          return 0;
    
      #endif
    
      }
    
      811
      void startSwitchPins() {
    
      #if EFI_PROD_CODE
    
      	// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
    
      	// this switch is not used yet
    
      	startInputPinIfValid("clutch down switch", engineConfiguration->clutchDownPin, engineConfiguration->clutchDownPinMode);
    
      	startInputPinIfValid("clutch up switch", engineConfiguration->clutchUpPin, engineConfiguration->clutchUpPinMode);
    
      	startInputPinIfValid("brake pedal switch", engineConfiguration->brakePedalPin, engineConfiguration->brakePedalPinMode);
    
      	startInputPinIfValid("Launch Button", engineConfiguration->launchActivatePin, engineConfiguration->launchActivatePinMode);
    
      	startInputPinIfValid("Antilag Button", engineConfiguration->ALSActivatePin, engineConfiguration->ALSActivatePinMode);
    
      	startInputPinIfValid("Ignition Switch", engineConfiguration->ignitionKeyDigitalPin, engineConfiguration->ignitionKeyDigitalPinMode);
    
      	startInputPinIfValid("Torque Reduction Button", engineConfiguration->torqueReductionTriggerPin, engineConfiguration->torqueReductionTriggerPinMode);
    
      	startInputPinIfValid("Nitrous Button", engineConfiguration->nitrousControlTriggerPin, engineConfiguration->nitrousControlTriggerPinMode);
    
      #endif /* EFI_PROD_CODE */
    
      811
      }
    
      221
      void stopSwitchPins() {
    
      221
      	brain_pin_markUnused(activeConfiguration.clutchUpPin);
    
      221
      	brain_pin_markUnused(activeConfiguration.clutchDownPin);
    
      221
      	brain_pin_markUnused(activeConfiguration.brakePedalPin);
    
      221
      	brain_pin_markUnused(activeConfiguration.launchActivatePin);
    
      221
      	brain_pin_markUnused(activeConfiguration.ALSActivatePin);
    
      221
      	brain_pin_markUnused(activeConfiguration.ignitionKeyDigitalPin);
    
      221
      	brain_pin_markUnused(activeConfiguration.torqueReductionTriggerPin);
    
      221
      	brain_pin_markUnused(activeConfiguration.nitrousControlTriggerPin);
    
      221
      }
    
      #if ! EFI_UNIT_TEST
    
      #if EFI_IDLE_CONTROL
    
      static void applyPidSettings() {
    
      	engine->module<IdleController>().unmock().getIdlePid()->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
    
      }
    
      #endif // EFI_IDLE_CONTROL
    
      void setTargetIdleRpm(int value) {
    
      	setTargetRpmCurve(value);
    
      	efiPrintf("target idle RPM %d", value);
    
      }
    
      /**
    
       * Idle test would activate the solenoid for three seconds
    
       */
    
      void startIdleBench(void) {
    
      	engine->timeToStopIdleTest = getTimeNowUs() + MS2US(3000); // 3 seconds
    
      	efiPrintf("idle valve bench test");
    
      }
    
      #endif /* EFI_UNIT_TEST */
    
      #if EFI_IDLE_CONTROL
    
      593
      void setDefaultIdleParameters() {
    
      593
      	engineConfiguration->idleRpmPid.pFactor = 0.01f;
    
      593
      	engineConfiguration->idleRpmPid.iFactor = 0.05f;
    
      593
      	engineConfiguration->idleRpmPid.dFactor = 0.0f;
    
      593
      	engineConfiguration->idlerpmpid_iTermMin = -20;
    
      593
      	engineConfiguration->idlerpmpid_iTermMax =  20;
    
      	// Good starting point is 10 degrees per 100 rpm, aka 0.1 deg/rpm
    
      593
      	engineConfiguration->idleTimingPid.pFactor = 0.1f;
    
      593
      	engineConfiguration->idleTimingPid.iFactor = 0;
    
      593
      	engineConfiguration->idleTimingPid.dFactor = 0;
    
      	// Allow +- 10 degrees adjustment
    
      593
      	engineConfiguration->idleTimingPid.minValue = -10;
    
      593
      	engineConfiguration->idleTimingPid.maxValue = 10;
    
      	// Idle region is target + 300 RPM
    
      593
      	engineConfiguration->idlePidRpmUpperLimit = 300;
    
      593
      	engineConfiguration->idlePidRpmDeadZone = 50;
    
      593
      	engineConfiguration->idleReturnTargetRampDuration = 3;
    
      593
      }
    
      591
      void startIdleThread() {
    
      	// Force the idle controller to use 0 offset, as this is handled by the open loop table instead.
    
      591
      	engineConfiguration->idleRpmPid.offset = 0;
    
      591
      	IdleController *controller = &engine->module<IdleController>().unmock();
    
      591
      	controller->init();
    
      #if ! EFI_UNIT_TEST
    
      	// todo: we still have to explicitly init all hardware on start in addition to handling configuration change via
    
      	// 'applyNewHardwareSettings' todo: maybe unify these two use-cases?
    
      	initIdleHardware();
    
      #endif /* EFI_UNIT_TEST */
    
      591
      	controller->idleState = INIT;
    
      591
      	controller->baseIdlePosition = -100.0f;
    
      591
      	controller->currentIdlePosition = -100.0f;
    
      #if ! EFI_UNIT_TEST
    
      	// split this whole file into manual controller and auto controller? move these commands into the file
    
      	// which would be dedicated to just auto-controller?
    
      	addConsoleAction("idlebench", startIdleBench);
    
      	applyPidSettings();
    
      #endif /* EFI_UNIT_TEST */
    
      591
      }
    
      #endif /* EFI_IDLE_CONTROL */

Line	Exec	Source
1		/*
2		* @file idle_thread_io.cpp
3		*
4		*
5		* enable verbose_idle
6		* disable verbose_idle
7		*
8		* This file is part of rusEfi - see http://rusefi.com
9		*
10		* rusEfi is free software; you can redistribute it and/or modify it under the terms of
11		* the GNU General Public License as published by the Free Software Foundation; either
12		* version 3 of the License, or (at your option) any later version.
13		*
14		* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
15		* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16		* GNU General Public License for more details.
17		*
18		* You should have received a copy of the GNU General Public License along with this program.
19		* If not, see <http://www.gnu.org/licenses/>.
20		*
21		* @date Oct 17, 2021
22		* @author Andrey Belomutskiy, (c) 2012-2020
23		*/
24
25		#include "pch.h"
26
27		#if ! EFI_UNIT_TEST
28		#include "dc_motors.h"
29		#include "idle_hardware.h"
30
31		void setManualIdleValvePosition(int positionPercent) {
32		if (positionPercent < 1 \|\| positionPercent > 99)
33		return;
34		efiPrintf("setting idle valve position %d", positionPercent);
35		// todo: this is not great that we have to write into configuration here
36		setTable(config->cltIdleCorrTable, positionPercent);
37		}
38
39		#endif /* EFI_UNIT_TEST */
40
41		#if EFI_PROD_CODE
42		static void startInputPinIfValid(const char *msg, brain_pin_e pin, pin_input_mode_e mode) {
43		efiSetPadMode(msg, pin, getInputMode(mode));
44		}
45		#endif // EFI_PROD_CODE
46
47	✗	percent_t getIdlePosition() {
48		#if EFI_IDLE_CONTROL
49	✗	return engine->module<IdleController>().unmock().currentIdlePosition;
50		#else
51		return 0;
52		#endif
53		}
54
55	811	void startSwitchPins() {
56		#if EFI_PROD_CODE
57		// this is neutral/no gear switch input. on Miata it's wired both to clutch pedal and neutral in gearbox
58		// this switch is not used yet
59		startInputPinIfValid("clutch down switch", engineConfiguration->clutchDownPin, engineConfiguration->clutchDownPinMode);
60
61		startInputPinIfValid("clutch up switch", engineConfiguration->clutchUpPin, engineConfiguration->clutchUpPinMode);
62
63		startInputPinIfValid("brake pedal switch", engineConfiguration->brakePedalPin, engineConfiguration->brakePedalPinMode);
64		startInputPinIfValid("Launch Button", engineConfiguration->launchActivatePin, engineConfiguration->launchActivatePinMode);
65		startInputPinIfValid("Antilag Button", engineConfiguration->ALSActivatePin, engineConfiguration->ALSActivatePinMode);
66		startInputPinIfValid("Ignition Switch", engineConfiguration->ignitionKeyDigitalPin, engineConfiguration->ignitionKeyDigitalPinMode);
67		startInputPinIfValid("Torque Reduction Button", engineConfiguration->torqueReductionTriggerPin, engineConfiguration->torqueReductionTriggerPinMode);
68		startInputPinIfValid("Nitrous Button", engineConfiguration->nitrousControlTriggerPin, engineConfiguration->nitrousControlTriggerPinMode);
69		#endif /* EFI_PROD_CODE */
70	811	}
71
72	221	void stopSwitchPins() {
73	221	brain_pin_markUnused(activeConfiguration.clutchUpPin);
74	221	brain_pin_markUnused(activeConfiguration.clutchDownPin);
75	221	brain_pin_markUnused(activeConfiguration.brakePedalPin);
76	221	brain_pin_markUnused(activeConfiguration.launchActivatePin);
77	221	brain_pin_markUnused(activeConfiguration.ALSActivatePin);
78	221	brain_pin_markUnused(activeConfiguration.ignitionKeyDigitalPin);
79	221	brain_pin_markUnused(activeConfiguration.torqueReductionTriggerPin);
80	221	brain_pin_markUnused(activeConfiguration.nitrousControlTriggerPin);
81	221	}
82
83		#if ! EFI_UNIT_TEST
84
85		#if EFI_IDLE_CONTROL
86		static void applyPidSettings() {
87		engine->module<IdleController>().unmock().getIdlePid()->updateFactors(engineConfiguration->idleRpmPid.pFactor, engineConfiguration->idleRpmPid.iFactor, engineConfiguration->idleRpmPid.dFactor);
88		}
89		#endif // EFI_IDLE_CONTROL
90
91		void setTargetIdleRpm(int value) {
92		setTargetRpmCurve(value);
93		efiPrintf("target idle RPM %d", value);
94		}
95
96		/**
97		* Idle test would activate the solenoid for three seconds
98		*/
99		void startIdleBench(void) {
100		engine->timeToStopIdleTest = getTimeNowUs() + MS2US(3000); // 3 seconds
101		efiPrintf("idle valve bench test");
102		}
103
104		#endif /* EFI_UNIT_TEST */
105
106		#if EFI_IDLE_CONTROL
107
108	593	void setDefaultIdleParameters() {
109	593	engineConfiguration->idleRpmPid.pFactor = 0.01f;
110	593	engineConfiguration->idleRpmPid.iFactor = 0.05f;
111	593	engineConfiguration->idleRpmPid.dFactor = 0.0f;
112
113	593	engineConfiguration->idlerpmpid_iTermMin = -20;
114	593	engineConfiguration->idlerpmpid_iTermMax = 20;
115
116		// Good starting point is 10 degrees per 100 rpm, aka 0.1 deg/rpm
117	593	engineConfiguration->idleTimingPid.pFactor = 0.1f;
118	593	engineConfiguration->idleTimingPid.iFactor = 0;
119	593	engineConfiguration->idleTimingPid.dFactor = 0;
120
121		// Allow +- 10 degrees adjustment
122	593	engineConfiguration->idleTimingPid.minValue = -10;
123	593	engineConfiguration->idleTimingPid.maxValue = 10;
124
125		// Idle region is target + 300 RPM
126	593	engineConfiguration->idlePidRpmUpperLimit = 300;
127
128	593	engineConfiguration->idlePidRpmDeadZone = 50;
129	593	engineConfiguration->idleReturnTargetRampDuration = 3;
130	593	}
131
132	591	void startIdleThread() {
133		// Force the idle controller to use 0 offset, as this is handled by the open loop table instead.
134	591	engineConfiguration->idleRpmPid.offset = 0;
135
136	591	IdleController *controller = &engine->module<IdleController>().unmock();
137
138	591	controller->init();
139
140		#if ! EFI_UNIT_TEST
141		// todo: we still have to explicitly init all hardware on start in addition to handling configuration change via
142		// 'applyNewHardwareSettings' todo: maybe unify these two use-cases?
143		initIdleHardware();
144		#endif /* EFI_UNIT_TEST */
145
146	591	controller->idleState = INIT;
147	591	controller->baseIdlePosition = -100.0f;
148	591	controller->currentIdlePosition = -100.0f;
149
150		#if ! EFI_UNIT_TEST
151		// split this whole file into manual controller and auto controller? move these commands into the file
152		// which would be dedicated to just auto-controller?
153
154		addConsoleAction("idlebench", startIdleBench);
155		applyPidSettings();
156		#endif /* EFI_UNIT_TEST */
157	591	}
158
159		#endif /* EFI_IDLE_CONTROL */
160

Function (Line)	Call count	Line coverage	Branch coverage	Block coverage
getIdlePosition() (line 47)	not called	0.0%	-%	0.0%
setDefaultIdleParameters() (line 108)	called 593 times	100.0%	-%	100.0%
startIdleThread() (line 132)	called 591 times	100.0%	-%	100.0%
startSwitchPins() (line 55)	called 811 times	100.0%	-%	100.0%
stopSwitchPins() (line 72)	called 221 times	100.0%	-%	100.0%